\documentclass{standalone}
\usepackage[svgnames]{xcolor}
\usepackage{tikz}
\usetikzlibrary{arrows.meta, patterns, angles, calc, positioning}
\tikzset{ x=1cm, y=1cm, >=Latex, Ap/.style={draw, solid, <-, shorten <=2pt, angle radius=#1cm, angle eccentricity=1.1} }
\def\myR{1} \def\myangle{70}

\begin{document}  
	\begin{tikzpicture}
		\draw[line width=1pt, fill=gray!20] (0,0) coordinate(O) circle[radius=\myR];
		\draw[fill=white] (O) circle[radius=\myR*0.25];
		\draw[line width=1pt, pattern=crosshatch, pattern color=gray] (O) circle[radius=\myR*0.25];
		\draw[line width=4pt] (O)--(\myangle:6) coordinate (B);
		\draw[line width=0.6pt, fill=white] (O) circle[radius=2pt];
		\draw[dash dot] (O) -- (0,5) coordinate (A);
		\draw[dashed] (O) -- (55:3.6) coordinate (C) 
		pic[pic text={$\theta _p$}, Ap=3]{angle=B--O--A}
		pic[Ap=1.8]{angle=C--O--A} node[above] at (80:1.8) {$\theta _w$}
		pic[pic text={$\theta _{m}$}, Ap=2.5] {angle=C--O--B};
		\draw[->] (O) -- node[midway, above]{$R$} (140:\myR);
		\coordinate (O2) at (\myangle:4.5);
		\draw[fill=Orange!30, opacity=0.9, draw=Orange] (O2) circle[radius=\myR*0.32];
		\draw[->, draw=Blue, dashed] (O2)--+(0,1.5)node[left]{$y_b$}; \draw[->, draw=Blue, dashed] (O2)-- node[midway, above]{$m_b,i_p$} +(1.5,0) node[below]{$x_b$};
		\draw[->, draw=Red] (O2) -- node[midway, right]{$m_bg$} +(0,-1.5);
		\draw[dashed] (O) -- +(\myangle-90:1.5) coordinate(a) (O2) -- +(\myangle-90:1.5) coordinate(b);
		\draw[|<->|] (a)-- node[midway, right]{$I_c$} (b);
		\draw[dashed, <->] (-4,6)--(-4,0) coordinate(O3)--(3,0); 
		\draw[dashed, ->] (O3)--+(36:3) node[above]{$Z_{rm}Z_{abs}$};
		\draw[<->] (-4,3.5)-- node[midway,above]{$x_w$} (0,3.5);
		\path[pattern=north west lines, pattern color=gray] (-4,-\myR) -- (4,-\myR) -- ++(0,-0.5) -- ++(-8,0)--cycle;
		\draw (-4,-\myR) -- (4,-\myR);
		\draw[Red, ->] (O) -- +(0,-0.5) node[below]{$m_wg$};
		\draw[Red, <-] (0,-\myR) -- +(0,-1) node[right]{$F_n$};
		\draw[Red, <-, thick] (0,-\myR) -- +(-1,0) node[below]{$F_t$};
	\end{tikzpicture}
\end{document}